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WO2007020045A1 - Procede de generation d'une representation d'une carte donnant un aperçu optimal des routes parcourues - Google Patents

Procede de generation d'une representation d'une carte donnant un aperçu optimal des routes parcourues Download PDF

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Publication number
WO2007020045A1
WO2007020045A1 PCT/EP2006/008035 EP2006008035W WO2007020045A1 WO 2007020045 A1 WO2007020045 A1 WO 2007020045A1 EP 2006008035 W EP2006008035 W EP 2006008035W WO 2007020045 A1 WO2007020045 A1 WO 2007020045A1
Authority
WO
WIPO (PCT)
Prior art keywords
clothoids
road
arc
generating
arcs
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2006/008035
Other languages
German (de)
English (en)
Inventor
Wolfgang Beier
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mercedes Benz Group AG
Original Assignee
DaimlerChrysler AG
Daimler AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by DaimlerChrysler AG, Daimler AG filed Critical DaimlerChrysler AG
Priority to US12/064,189 priority Critical patent/US20080170074A1/en
Priority to EP06776844A priority patent/EP1915587A1/fr
Publication of WO2007020045A1 publication Critical patent/WO2007020045A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3863—Structures of map data
    • G01C21/3867—Geometry of map features, e.g. shape points, polygons or for simplified maps
    • G06T11/23—
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
    • G09B29/10—Map spot or coordinate position indicators; Map reading aids
    • G09B29/102—Map spot or coordinate position indicators; Map reading aids using electrical means

Definitions

  • the invention relates to methods for generating road maps, which are then used as a data set, for example for navigation purposes or in automatic road charging systems.
  • the determination as to whether a road contained in the data record is being driven by a vehicle is first carried out by measuring the vehicle position or movement and then comparing the obtained sensor values with the data of the map. It is necessary for a quick response of the system that with as few sensors and small amount of data of the map display a possible error-free decision can be made whether a particular road is currently being driven or not.
  • the method according to the invention generates map data by mapping a road course through a sequence of geometrical elements arranged next to one another, circular arcs, straight lines and clothoids being used as geometric elements depending on the resolution. Only a few parameters are sufficient to reproduce the actual course of the road with high precision. For this purpose, the same information can be used as they are also supplied by conventional sensors as measured values, so that transformation errors can be avoided. Due to a continuous representation of the processing algorithm requires a low and temporally uniform computing power of the vehicle unit requires.
  • Fig. 1 to be mapped road course with curves 2 distribution of the course of the road in circular arcs
  • Circular arcs Fig. 4 Distribution of the course of the road into data about
  • the invention takes into account that today roads are built according to specific specifications so that driving is as simple and thus safe. As a criterion is important that the simplest way to follow a road, the alternate silence and with uniform speed turning the steering wheel. This means that a driver either holds the steering wheel still - drives a circular arc (a straight line is in this regard only a special form of the circular arc) - or he moves the steering wheel evenly and thus drives a clothoid (spiral).
  • the time change should be such that the driving time through a clothoid should be about 2 to 3 seconds. If the direction change e.g. a right turn with a direct turn into a left turn, this time should be more like 4 seconds.
  • road courses thus consist alternately of circular arcs and clothoids, the clothoid lengths being designed in such a way that they are traversed within 2 to 4 seconds at normal speed.
  • the clothoids are usually approximated by simpler mathematical approximations, such as cubic parabolas. If one considers these design specifications for road courses for the generation a road map, the best way to describe it is to use just those elements, that is, to use circle segments and the transitions between them. However, as shown above, the parameters of a transition are given in very close tolerances so that in the description of the road it can be assumed to be constant even for many applications and then need not be explicitly quantified, further reducing the required data set and computational effort.
  • An essential advantage of the method according to the invention is that the amounts of data that are necessary to describe the road courses as accurately as possible can be kept small. Due to the proposed description of the course of the road over circular arcs, straight lines (as a special circular arc) and clothoids, the amount of data does not (or hardly) depends on the accuracy of the course description - not even on the length of the road or the size of the direction changes. However, the necessary amount of data is determined by the number of changes in curvature, ie the number of circular arc segments, and thus ultimately by the parameters required to describe a circular arc.
  • a circular arc has two translatory degrees of freedom, one rotational and one degree of freedom in size and direction change. That would be five parameters for a single arc to describe it.
  • the number of degrees of freedom is reduced, however, because the circular arcs must not be arranged independently of each other.
  • One degree of freedom - the initial direction - results from the end direction of the previous arc, since the arcs should merge into one another in the same direction.
  • a translatory degree of freedom does not need to be specified explicitly, since it also results from the end of the previous arc. If clothoid transitions are already neglected in the presentation, which then, if necessary, no longer allows an estimate, even the second translational degree of freedom results from the previous arc.
  • the second translational degree of freedom is also described, and thus also the reconstruction of the clothoids is possible, then remain 3 values for each of the circular arcs in a sequence.
  • representation these 3 degrees of freedom are optimally determined depends on the demand derived therefrom for the computing power in the evaluation.
  • the representation of the degrees of freedom and the sensors in a vehicle should match as much as possible. For example, when using direction sensors or
  • Directional change sensors tend to use directions, while using absolute positional determinations, rather point coordinates and connecting lines should be used.
  • the calculation of a curvature requires some computational effort during the evaluation, which can be saved if this curvature is used as a representation of a circular arc. Then one would have as a representation of the three degrees of freedom of a circular arc in a chain without kinks its initial coordinates (for example, length and latitude) and its curvature.
  • Figure 1 is assumed as an example a general road course, which consists of different curve pieces. This should serve as a reference for various suggestions of the notation of the 3 variables per description element.
  • this road course is analyzed in a representation that is optimal when using only position coordinates as a result of the sensor measurement.
  • the circular arc pieces (a, c, d, e ) are imaged over the respective circle centers (A, C, D, E) and the radii (r a , r c , r d , r e ), which makes a simple comparison with position coordinates allowed.
  • the current lateral offset which has a vehicle relative to the road, results in this representation at any time from the comparison between the sum of the squares of the coordinate differences (north and east differences) and the square of the current Arc radius r (Pythagoras).
  • a transition from one circular arc to the next takes place whenever the ratio of the north and east differences of the circular arc centers corresponds to the ratio of the north and east differences from their own position and one of the centers.
  • FIG. 4 shows the description of the course of the road via parameters which are suitable for the use of positions and directions as sensor information.
  • FIG. 5 shows the parameters for describing the course of the road in this form.
  • the clothoid as a transition is either neglected as mentioned above or can be calculated from the sequence of circular arcs determined with 3 parameters each.
  • FIG. 6 it becomes clear how in the representation of the circular arcs (c, d) through their centers (C, D) and their radii (r c , r d ) the clothoid between them can be exactly determined. From the distance of the centers and the sum of the two radii, the lateral offset of the circular arcs can be easily calculated. Thus, the initial radius, the end radius and the lateral offset of the sheets are known from the clothoid to be determined, if extrapolated to the kink-free match.
  • a clothoid is only determined by three parameters - the start and end radius and the change in the midpoint angle per distance.
  • a rapid change of the midpoint angle of a path section results in a small offset of the arc ends or a slow change of the midpoint angle per path section a large offset. From this one can conclude that a given offset can only be imaged by a single clothoid. If suitable clothoids are stored for different offset values, the course reproduction between the circular arcs is simplified by not individually performing an exact calculation, but simply inserting (standard) clothoids.
  • the method according to the invention therefore offers the possibility of a broad field of application: Depending on the sensors used, all the required reference values for the respective measured values can be determined very precisely - and that for particularly simple applications the calculation is particularly simple, but also for more complex requirements and Sensor combinations with more computational effort all the desired data can be provided. All types of application result in a better

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Geometry (AREA)
  • Mathematical Physics (AREA)
  • Business, Economics & Management (AREA)
  • Educational Administration (AREA)
  • Educational Technology (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé de génération d'une représentation d'une carte comportant les tracés de routes destinés à être utilisés, par exemple, dans la navigation, de détection des péages ou d'applications de précision comme la conduite automatique. A cette occasion, un tracé de route constitué d'une juxtaposition d'éléments géométriques, par exemple, au moins d'un arc de cercle ou au moins d'une droite et de clothoïdes, les cloitoïdes reliant sans coude les arcs de cercle et/ou droites. Selon la résolution nécessaire, les cloitoïdes sont calculés à partir des éléments d'arc de cercle, approchés par approximation par des valeurs ou simplement omis. Cela permet d'obtenir une représentation de carte particulièrement fiable et optimale en termes d'emplacement de mémoire.
PCT/EP2006/008035 2005-08-19 2006-08-15 Procede de generation d'une representation d'une carte donnant un aperçu optimal des routes parcourues Ceased WO2007020045A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US12/064,189 US20080170074A1 (en) 2005-08-19 2006-08-15 Method For Generating a Map Depiction For Optimal Perceptibility of Streets to Travel Through
EP06776844A EP1915587A1 (fr) 2005-08-19 2006-08-15 Procede de generation d'une representation d'une carte donnant un aperçu optimal des routes parcourues

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102005039581 2005-08-19
DE102005039581.3 2005-08-19

Publications (1)

Publication Number Publication Date
WO2007020045A1 true WO2007020045A1 (fr) 2007-02-22

Family

ID=37114559

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2006/008035 Ceased WO2007020045A1 (fr) 2005-08-19 2006-08-15 Procede de generation d'une representation d'une carte donnant un aperçu optimal des routes parcourues

Country Status (3)

Country Link
US (1) US20080170074A1 (fr)
EP (1) EP1915587A1 (fr)
WO (1) WO2007020045A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1962059A1 (fr) * 2007-02-26 2008-08-27 Deutsches Zentrum für Luft- und Raumfahrt e.V. Procédé de mémorisation de trajectoires contenues dans des cartes numériques
EP2418460A3 (fr) * 2010-08-09 2013-08-07 Robert Bosch GmbH Procédé de représentation d'un tracé de route sur un dispositif d'affichage et procédé d'imagerie d'un tracé de route sur une carte routière numérique

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TW200949211A (en) * 2008-06-04 2009-12-01 Tomtom Int Bv Method and apparatus for preparing map data
US9534907B2 (en) * 2008-08-22 2017-01-03 Telit Automotive Solutions Nv Location-based services
EP2653833B1 (fr) 2012-04-19 2018-07-25 Elektrobit Automotive GmbH Technique pour générer à partir de données géométriques des données de point décrivant une trajectoire d'un objet géographique
WO2014205632A1 (fr) * 2013-06-24 2014-12-31 Adobe Systems Incorporated Méthode de tracé de point de gravité
US9613443B2 (en) * 2014-05-06 2017-04-04 Mitsubishi Electric Research Laboratories, Inc. Method for generating representations of polylines using piecewise fitted geometric primitives
US11541875B2 (en) * 2020-06-19 2023-01-03 Aptiv Technologies Limited System and method for path planning in vehicles
EP4318162B1 (fr) * 2022-05-23 2025-07-02 Beijing Xiaomi Robot Technology Co., Ltd. Dispositif mobile et procédé et appareil de commande de vitesse associés, et support de stockage

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19949698A1 (de) * 1999-10-15 2001-04-19 Alcatel Sa Verfahren zur Erzeugung einer digitalen Fahrwege-Netzkarte
US20030101036A1 (en) * 2001-11-07 2003-05-29 Nagel Philipp Harald Navigation map creation system
EP1559994A2 (fr) * 2004-01-30 2005-08-03 Aisin Aw Co., Ltd. Dispositif pour prédire la configuration d'une route et procédé pour calculer une courbe clothoide
DE102005004569A1 (de) * 2005-02-01 2006-08-10 Robert Bosch Gmbh Verfahren zur Beschreibung von Streckenabschnitten in digitalen Straßenkarten

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5956250A (en) * 1990-02-05 1999-09-21 Caterpillar Inc. Apparatus and method for autonomous vehicle navigation using absolute data
US6438494B1 (en) * 1999-10-12 2002-08-20 Sanei Co., Ltd. Method, apparatus and program products for designing roads
US6732046B1 (en) * 2001-10-03 2004-05-04 Navigation Technologies Corp. Application of the hough transform to modeling the horizontal component of road geometry and computing heading and curvature
US7152022B1 (en) * 2002-04-25 2006-12-19 Rajashri Joshi Application of the ψ-s curve to road geometry extraction and modeling

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19949698A1 (de) * 1999-10-15 2001-04-19 Alcatel Sa Verfahren zur Erzeugung einer digitalen Fahrwege-Netzkarte
US20030101036A1 (en) * 2001-11-07 2003-05-29 Nagel Philipp Harald Navigation map creation system
EP1559994A2 (fr) * 2004-01-30 2005-08-03 Aisin Aw Co., Ltd. Dispositif pour prédire la configuration d'une route et procédé pour calculer une courbe clothoide
DE102005004569A1 (de) * 2005-02-01 2006-08-10 Robert Bosch Gmbh Verfahren zur Beschreibung von Streckenabschnitten in digitalen Straßenkarten

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1962059A1 (fr) * 2007-02-26 2008-08-27 Deutsches Zentrum für Luft- und Raumfahrt e.V. Procédé de mémorisation de trajectoires contenues dans des cartes numériques
EP2418460A3 (fr) * 2010-08-09 2013-08-07 Robert Bosch GmbH Procédé de représentation d'un tracé de route sur un dispositif d'affichage et procédé d'imagerie d'un tracé de route sur une carte routière numérique

Also Published As

Publication number Publication date
US20080170074A1 (en) 2008-07-17
EP1915587A1 (fr) 2008-04-30

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